series of shooter state machine and simulator fixes
diff --git a/frc971/constants.cc b/frc971/constants.cc
index f7363c6..da27720 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -43,7 +43,7 @@
const double shooter_voltage=0.0;
const double shooter_hall_effect_start_position=0.0;
const double shooter_zeroing_off_speed=0.0;
-const double shooter_zeroing_speed=0.0;
+const double shooter_zeroing_speed=1.0;
const double position=0.0;
const Values *DoGetValues() {
@@ -57,10 +57,10 @@
kCompHighGearRatio,
// ShooterLimits
// TODO_ben: make these real numbers
- {0.0, 100.0, {-3.0, 2.0}, {-1, 4.0}, {2.0, 7.0}},
+ {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07}},
shooter_voltage,
// shooter_total_length
- 100.0,
+ 1.0,
shooter_hall_effect_start_position,
shooter_zeroing_off_speed,
shooter_zeroing_speed,
@@ -87,10 +87,10 @@
kPracticeHighGearRatio,
// ShooterLimits
// TODO_ben: make these real numbers
- {0.0, 100.0, {-3.0, 2.0}, {-1, 4.0}, {2.0, 7.0}},
+ {0.0, 1.0, {-0.03, 0.02}, {-0.01, 0.04}, {0.02, 0.07}},
shooter_voltage,
// shooter_total_length
- 100.0,
+ 1.0,
shooter_hall_effect_start_position,
shooter_zeroing_off_speed,
shooter_zeroing_speed,